generated from wessel/boilerplate
81 lines
2.3 KiB
C
81 lines
2.3 KiB
C
#ifndef MPU6886_H
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#define MPU6886_H
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#include "driver/i2c.h"
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#include "esp_err.h"
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#include "esp_wifi.h"
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#include "esp_event.h"
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#include "esp_log.h"
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#include "nvs_flash.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include <math.h>
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#include "mqtt_client.h"
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#include <string.h>
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#include <stdio.h>
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#define I2C_MASTER_SCL_IO CONFIG_I2C_MASTER_SCL /*!< GPIO number used for I2C master clock */
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#define I2C_MASTER_SDA_IO CONFIG_I2C_MASTER_SDA /*!< GPIO number used for I2C master data */
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#define I2C_MASTER_NUM I2C_NUM_0 /*!< I2C port number for master dev */
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#define I2C_MASTER_FREQ_HZ CONFIG_I2C_MASTER_FREQUENCY /*!< I2C master clock frequency */
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#define I2C_MASTER_TX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
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#define I2C_MASTER_RX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
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#define I2C_MASTER_TIMEOUT_MS 1000
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#define MPU6886_ADDR 0x68
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// MPU6886 Registers
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#define MPU6886_PWR_MGMT_1 0x6B
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#define MPU6886_WHO_AM_I 0x75
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#define MPU6886_ACCEL_XOUT_H 0x3B
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#define MPU6886_GYRO_XOUT_H 0x43
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#define MPU6886_TEMP_OUT_H 0x41
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#define MPU6886_ACCEL_CONFIG 0x1C
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#define MPU6886_GYRO_CONFIG 0x1B
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// Sensitivity scales
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#define ACCEL_SO_2G 16384.0f
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#define ACCEL_SO_4G 8192.0f
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#define ACCEL_SO_8G 4096.0f
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#define ACCEL_SO_16G 2048.0f
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#define GYRO_SO_250DPS 131.0f
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#define GYRO_SO_500DPS 65.5f
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#define GYRO_SO_1000DPS 32.8f
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#define GYRO_SO_2000DPS 16.4f
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#define TEMP_SO 326.8f
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#define TEMP_OFFSET 25.0f
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// Scale factors
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#define SF_M_S2 9.80665f
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#define SF_RAD_S 0.017453292519943f
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typedef struct {
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float x;
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float y;
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float z;
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} vec3_t;
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typedef struct {
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i2c_port_t i2c_port;
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uint8_t address;
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float accel_div;
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float gyro_div;
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vec3_t gyro_offset;
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vec3_t accel_offset;
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} mpu6886_t;
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static esp_mqtt_client_handle_t s_mqtt_client = NULL;
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// Function declarations
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esp_err_t mpu6886_init(mpu6886_t *dev, i2c_port_t i2c_port);
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esp_err_t mpu6886_read_accel(mpu6886_t *dev, vec3_t *accel);
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esp_err_t mpu6886_read_gyro(mpu6886_t *dev, vec3_t *gyro);
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esp_err_t mpu6886_read_temp(mpu6886_t *dev, float *temp);
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esp_err_t mpu6886_calibrate_gyro(mpu6886_t *dev, int samples, int delay_ms);
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esp_err_t mpu6886_calibrate_accel(mpu6886_t *dev, int samples, int delay_ms);
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#endif
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